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small cleanup in the DemoApplication, removed references to obsolete PHY_ShapeProps/PHY_MaterialProps

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removed deletion of motionstate in CcdPhysics/CcdPhysicsController destructor
disabled m_type optimization in SimdTransform (making the memory size 64 byte, potentially more cache friendly)
fixed a bug in island generation, causing the activation not propagating in one frame, but one 'layer' of rigidbodies at a time
This commit is contained in:
ejcoumans
2006-09-26 18:59:29 +00:00
parent 0e04cfc806
commit 37a53ee7d9
8 changed files with 100 additions and 86 deletions
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39
Demos/OpenGL/DemoApplication.cpp
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@@ -612,43 +612,19 @@ CcdPhysicsController* DemoApplication::LocalCreatePhysicsObject(bool isDynamic,
startTransforms[numObjects] = startTransform;
PHY_ShapeProps shapeProps;
shapeProps.m_do_anisotropic = false;
shapeProps.m_do_fh = false;
shapeProps.m_do_rot_fh = false;
shapeProps.m_friction_scaling[0] = 1.;
shapeProps.m_friction_scaling[1] = 1.;
shapeProps.m_friction_scaling[2] = 1.;
shapeProps.m_inertia = 1.f;
shapeProps.m_lin_drag = 0.2f;
shapeProps.m_ang_drag = 0.1f;
shapeProps.m_mass = 10.0f;
PHY_MaterialProps materialProps;
materialProps.m_friction = 10.5f;
materialProps.m_restitution = 0.0f;
CcdConstructionInfo ccdObjectCi;
ccdObjectCi.m_friction = 0.5f;
ccdObjectCi.m_linearDamping = shapeProps.m_lin_drag;
ccdObjectCi.m_angularDamping = shapeProps.m_ang_drag;
SimdTransform tr;
tr.setIdentity();
int i = numObjects;
{
gShapePtr[i] = shape;
shapeProps.m_shape = gShapePtr[i];
shapeProps.m_shape->SetMargin(0.05f);
gShapePtr[i]->SetMargin(0.05f);
SimdQuaternion orn = startTransform.getRotation();
ms[i].setWorldOrientation(orn[0],orn[1],orn[2],orn[3]);
ms[i].setWorldPosition(startTransform.getOrigin().getX(),startTransform.getOrigin().getY(),startTransform.getOrigin().getZ());
@@ -657,25 +633,22 @@ CcdPhysicsController* DemoApplication::LocalCreatePhysicsObject(bool isDynamic,
ccdObjectCi.m_localInertiaTensor =SimdVector3(0,0,0);
if (!isDynamic)
{
shapeProps.m_mass = 0.f;
ccdObjectCi.m_mass = shapeProps.m_mass;
ccdObjectCi.m_mass = 0.f;
ccdObjectCi.m_collisionFlags = CollisionObject::isStatic;
ccdObjectCi.m_collisionFilterGroup = CcdConstructionInfo::StaticFilter;
ccdObjectCi.m_collisionFilterMask = CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter;
}
else
{
shapeProps.m_mass = mass;
ccdObjectCi.m_mass = shapeProps.m_mass;
ccdObjectCi.m_mass = mass;
ccdObjectCi.m_collisionFlags = 0;
}
SimdVector3 localInertia(0.f,0.f,0.f);
if (isDynamic)
{
gShapePtr[i]->CalculateLocalInertia(shapeProps.m_mass,localInertia);
gShapePtr[i]->CalculateLocalInertia(ccdObjectCi.m_mass,localInertia);
}
ccdObjectCi.m_localInertiaTensor = localInertia;
@@ -727,11 +700,9 @@ void DemoApplication::renderme()
bool isSatEnabled = (getDebugMode() & IDebugDraw::DBG_EnableSatComparison);
m_physicsEnvironmentPtr->EnableSatCollisionDetection(isSatEnabled);
int numPhysicsObjects = m_physicsEnvironmentPtr->GetNumControllers();
int i;
@@ -772,7 +743,7 @@ void DemoApplication::renderme()
}
char extraDebug[125];
sprintf(extraDebug,"islId, Body=%i , %i",ctrl->GetRigidBody()->m_islandTag1,ctrl->GetRigidBody()->m_debugBodyId);
sprintf(extraDebug,"Island:%i, Body:%i",ctrl->GetRigidBody()->m_islandTag1,ctrl->GetRigidBody()->m_debugBodyId);
ctrl->GetRigidBody()->GetCollisionShape()->SetExtraDebugInfo(extraDebug);
float vec[16];

9
Demos/OpenGL/GL_ShapeDrawer.cpp
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@@ -330,18 +330,19 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
}
/*glDisable(GL_DEPTH_BUFFER_BIT);
if (debugMode==IDebugDraw::DBG_DrawText)
glDisable(GL_DEPTH_BUFFER_BIT);
glRasterPos3f(0,0,0);//mvtx.x(), vtx.y(), vtx.z());
if (debugMode&IDebugDraw::DBG_DrawText)
{
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->GetName());
}
if (debugMode==IDebugDraw::DBG_DrawFeaturesText)
if (debugMode&IDebugDraw::DBG_DrawFeaturesText)
{
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->GetExtraDebugInfo());
}
glEnable(GL_DEPTH_BUFFER_BIT);
*/
// glPopMatrix();
}

2
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
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@@ -107,7 +107,7 @@ CcdPhysicsController::~CcdPhysicsController()
if (m_cci.m_physicsEnv)
m_cci.m_physicsEnv->removeCcdPhysicsController(this);
delete m_MotionState;
///this should not be deleted, it has been allocated by the user//delete m_MotionState;
delete m_body;
}

3
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
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@@ -52,5 +52,6 @@ void CollisionObject::activate()
bool CollisionObject::mergesSimulationIslands() const
{
return ( !(m_collisionFlags & isStatic));
//static objects, and object without contact response don't merge islands
return ( !(m_collisionFlags & (isStatic |noContactResponse )));
}

5
src/BulletCollision/CollisionDispatch/btCollisionObject.h
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@@ -34,6 +34,8 @@ class CollisionShape;
struct CollisionObject
{
SimdTransform m_worldTransform;
BroadphaseProxy* m_broadphaseHandle;
CollisionShape* m_collisionShape;
//m_interpolationWorldTransform is used for CCD and interpolation
//it can be either previous or future (predicted) transform
@@ -57,8 +59,7 @@ struct CollisionObject
SimdScalar m_friction;
SimdScalar m_restitution;
BroadphaseProxy* m_broadphaseHandle;
CollisionShape* m_collisionShape;
//users can point to their objects, m_userPointer is not used by Bullet
void* m_userObjectPointer;

3
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
View File

@@ -36,8 +36,6 @@ void SimulationIslandManager::FindUnions(Dispatcher* dispatcher)
const CollisionObject* colObj0 = static_cast<const CollisionObject*>(manifold->GetBody0());
const CollisionObject* colObj1 = static_cast<const CollisionObject*>(manifold->GetBody1());
if (colObj0 && colObj1 && dispatcher->NeedsResponse(*colObj0,*colObj1))
{
if (((colObj0) && ((colObj0)->mergesSimulationIslands())) &&
((colObj1) && ((colObj1)->mergesSimulationIslands())))
{
@@ -45,7 +43,6 @@ void SimulationIslandManager::FindUnions(Dispatcher* dispatcher)
m_unionFind.unite((colObj0)->m_islandTag1,
(colObj1)->m_islandTag1);
}
}
}

46
src/BulletDynamics/Dynamics/btRigidBody.h
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@@ -37,6 +37,24 @@ extern bool gUseEpa;
///
class RigidBody : public CollisionObject
{
SimdMatrix3x3 m_invInertiaTensorWorld;
SimdVector3 m_linearVelocity;
SimdVector3 m_angularVelocity;
SimdScalar m_inverseMass;
SimdVector3 m_gravity;
SimdVector3 m_invInertiaLocal;
SimdVector3 m_totalForce;
SimdVector3 m_totalTorque;
SimdScalar m_linearDamping;
SimdScalar m_angularDamping;
SimdScalar m_kinematicTimeStep;
BroadphaseProxy* m_broadphaseProxy;
public:
RigidBody(const MassProps& massProps,SimdScalar linearDamping,SimdScalar angularDamping,SimdScalar friction,SimdScalar restitution);
@@ -197,29 +215,6 @@ public:
private:
SimdMatrix3x3 m_invInertiaTensorWorld;
SimdVector3 m_gravity;
SimdVector3 m_invInertiaLocal;
SimdVector3 m_totalForce;
SimdVector3 m_totalTorque;
// SimdQuaternion m_orn1;
SimdVector3 m_linearVelocity;
SimdVector3 m_angularVelocity;
SimdScalar m_linearDamping;
SimdScalar m_angularDamping;
SimdScalar m_inverseMass;
SimdScalar m_kinematicTimeStep;
BroadphaseProxy* m_broadphaseProxy;
public:
@@ -240,7 +235,8 @@ public:
int m_contactSolverType;
int m_frictionSolverType;
/*
//unused
/// for ode solver-binding
dMatrix3 m_R;//temp
dMatrix3 m_I;
@@ -250,7 +246,7 @@ public:
SimdVector3 m_tacc;//temp
SimdVector3 m_facc;
*/
int m_debugBodyId;

61
src/LinearMath/SimdTransform.h
View File

@@ -21,6 +21,7 @@ subject to the following restrictions:
#include "LinearMath/SimdMatrix3x3.h"
#define IGNORE_TYPE 1
class SimdTransform {
@@ -41,37 +42,49 @@ public:
explicit SIMD_FORCE_INLINE SimdTransform(const SimdQuaternion& q,
const SimdVector3& c = SimdVector3(SimdScalar(0), SimdScalar(0), SimdScalar(0)))
: m_basis(q),
m_origin(c),
m_type(RIGID)
m_origin(c)
#ifndef IGNORE_TYPE
, m_type(RIGID)
#endif //IGNORE_TYPE
{}
explicit SIMD_FORCE_INLINE SimdTransform(const SimdMatrix3x3& b,
const SimdVector3& c = SimdVector3(SimdScalar(0), SimdScalar(0), SimdScalar(0)),
unsigned int type = AFFINE)
: m_basis(b),
m_origin(c),
m_type(type)
m_origin(c)
#ifndef IGNORE_TYPE
, m_type(type)
#endif //IGNORE_TYPE
{}
SIMD_FORCE_INLINE void mult(const SimdTransform& t1, const SimdTransform& t2) {
m_basis = t1.m_basis * t2.m_basis;
m_origin = t1(t2.m_origin);
#ifndef IGNORE_TYPE
m_type = t1.m_type | t2.m_type;
#endif //IGNORE_TYPE
}
void multInverseLeft(const SimdTransform& t1, const SimdTransform& t2) {
SimdVector3 v = t2.m_origin - t1.m_origin;
#ifndef IGNORE_TYPE
if (t1.m_type & SCALING) {
SimdMatrix3x3 inv = t1.m_basis.inverse();
m_basis = inv * t2.m_basis;
m_origin = inv * v;
}
else {
else
#else
{
m_basis = SimdMultTransposeLeft(t1.m_basis, t2.m_basis);
m_origin = v * t1.m_basis;
#endif //IGNORE_TYPE
}
#ifndef IGNORE_TYPE
m_type = t1.m_type | t2.m_type;
#endif //IGNORE_TYPE
}
SIMD_FORCE_INLINE SimdVector3 operator()(const SimdVector3& x) const
@@ -102,7 +115,9 @@ public:
{
m_basis.setValue(m);
m_origin.setValue(&m[12]);
#ifndef IGNORE_TYPE
m_type = AFFINE;
#endif //IGNORE_TYPE
}
@@ -126,7 +141,9 @@ public:
SIMD_FORCE_INLINE void setOrigin(const SimdVector3& origin)
{
m_origin = origin;
#ifndef IGNORE_TYPE
m_type |= TRANSLATION;
#endif //IGNORE_TYPE
}
SIMD_FORCE_INLINE SimdVector3 invXform(const SimdVector3& inVec) const;
@@ -136,40 +153,60 @@ public:
SIMD_FORCE_INLINE void setBasis(const SimdMatrix3x3& basis)
{
m_basis = basis;
#ifndef IGNORE_TYPE
m_type |= LINEAR;
#endif //IGNORE_TYPE
}
SIMD_FORCE_INLINE void setRotation(const SimdQuaternion& q)
{
m_basis.setRotation(q);
#ifndef IGNORE_TYPE
m_type = (m_type & ~LINEAR) | ROTATION;
#endif //IGNORE_TYPE
}
SIMD_FORCE_INLINE void scale(const SimdVector3& scaling)
{
m_basis = m_basis.scaled(scaling);
#ifndef IGNORE_TYPE
m_type |= SCALING;
#endif //IGNORE_TYPE
}
void setIdentity()
{
m_basis.setIdentity();
m_origin.setValue(SimdScalar(0.0), SimdScalar(0.0), SimdScalar(0.0));
#ifndef IGNORE_TYPE
m_type = 0x0;
#endif //IGNORE_TYPE
}
SIMD_FORCE_INLINE bool isIdentity() const { return m_type == 0x0; }
SIMD_FORCE_INLINE bool isIdentity() const {
#ifdef IGNORE_TYPE
return false;
#else
return m_type == 0x0;
#endif
}
SimdTransform& operator*=(const SimdTransform& t)
{
m_origin += m_basis * t.m_origin;
m_basis *= t.m_basis;
#ifndef IGNORE_TYPE
m_type |= t.m_type;
#endif //IGNORE_TYPE
return *this;
}
SimdTransform inverse() const
{
#ifdef IGNORE_TYPE
SimdMatrix3x3 inv = m_basis.transpose();
return SimdTransform(inv, inv * -m_origin, 0);
#else
if (m_type)
{
SimdMatrix3x3 inv = (m_type & SCALING) ?
@@ -180,6 +217,7 @@ public:
}
return *this;
#endif //IGNORE_TYPE
}
SimdTransform inverseTimes(const SimdTransform& t) const;
@@ -190,7 +228,9 @@ private:
SimdMatrix3x3 m_basis;
SimdVector3 m_origin;
#ifndef IGNORE_TYPE
unsigned int m_type;
#endif //IGNORE_TYPE
};
@@ -205,6 +245,7 @@ SIMD_FORCE_INLINE SimdTransform
SimdTransform::inverseTimes(const SimdTransform& t) const
{
SimdVector3 v = t.getOrigin() - m_origin;
#ifndef IGNORE_TYPE
if (m_type & SCALING)
{
SimdMatrix3x3 inv = m_basis.inverse();
@@ -212,10 +253,12 @@ SimdTransform::inverseTimes(const SimdTransform& t) const
m_type | t.m_type);
}
else
#else
{
return SimdTransform(m_basis.transposeTimes(t.m_basis),
v * m_basis, m_type | t.m_type);
v * m_basis, 0);
}
#endif //IGNORE_TYPE
}
SIMD_FORCE_INLINE SimdTransform
@@ -223,7 +266,11 @@ SimdTransform::operator*(const SimdTransform& t) const
{
return SimdTransform(m_basis * t.m_basis,
(*this)(t.m_origin),
#ifndef IGNORE_TYPE
m_type | t.m_type);
#else
0);
#endif
}